Infrared and Laser Engineering, Volume. 50, Issue 9, 20200525(2021)
High precision calibration for internal and external parameter of manipulator binocular vision system
Figures & Tables(13)
Fig. 4. Test of camera coordinate system of binocular vision system
Fig. 5. Establish the relationship of the 3D target coordinate system and the camera assemblage coordinate system
Fig. 7. Principle of spatial rear intersection based on three control points
Table 1. Calibration requirements of internal and external parameters of binocular vision system
View tableView in ArticleTable 1. Calibration requirements of internal and external parameters of binocular vision system
Parameter Specification Observation distance/m 0.3-1.3 Internal parameter Major point/pixel ≤±1 Major distance/pixel ≤±1 External parameter Position/mm ≤±0.5 Attitude/(°) ≤±0.1
Table 2. Calibration results of internal parameter of binocular vision system
View tableView in ArticleTable 2. Calibration results of internal parameter of binocular vision system
Camera Principal point/pixel Principal distance/mm Distortion coefficient Reprojection error/pixel Left-view [960.93，540.28] fx:1429.38 fy:1429.61 k1:−0.0575 k2:0.1395 k3:0.0002 p1:−0.0002 p2:0 0.209 Right-view [957.20，540.52] fx:1424.01 fy:1424.34 k1:−0.0547 k2:0.1343 k3:0.0006 p1:−0.0004 p2:0 0.207
Table 3. Coordination of points in the cubic assemblage coordinate system
View tableView in ArticleTable 3. Coordination of points in the cubic assemblage coordinate system
Coordination/mm Point 1 Point 2 Point 3 Point 4 X 331.699 414.358 415.285 332.469 Y 202.393 −132.469 −136.654 198.190 Z 161.731 166.235 −163.688 −168.168
Table 4. Coordination of points in the left-view camera coordinate system
View tableView in ArticleTable 4. Coordination of points in the left-view camera coordinate system
Coordination/mm Point 1 Point 2 Point 3 Point 4 X 331.281 413.800 415.000 332.427 Y 152.116 −182.880 −186.300 148.130 Z 241.985 246.255 −83.678 −88.186
Table 5. Coordination of points in the right-view camera coordinate system
View tableView in ArticleTable 5. Coordination of points in the right-view camera coordinate system
Coordination/mm Point 1 Point 2 Point 3 Point 4 X 331.286 413.805 415.101 332.423 Y 252.853 −82.055 −86.186 248.703 Z 241.731 246.258 −83.675 −88.178
Table 6. External parameters of the binocular vision system
View tableView in ArticleTable 6. External parameters of the binocular vision system
Camera Rotation angle Translation vector εx εy εz ΔX ΔY ΔZ Left view 0.058 359.936 359.976 −0.341 −49.941 79.621 Right view 0.010 359.936 359.977 −0.313 50.616 79.584
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Liqing Yue, Xin Jia, Yang Miao, Hui Liu, Wenjin Wu, Qing Sui. High precision calibration for internal and external parameter of manipulator binocular vision system[J]. Infrared and Laser Engineering, 2021, 50(9): 20200525
Paper Information
Category: Optical design
Received: Dec. 29, 2020
Accepted: --
Published Online: Oct. 28, 2021
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